CN202952264U

CN202952264U - Bionic telescopic tissue chain

Info

Publication number: CN202952264U
Application number: CN 201220692219
Authority: CN
Inventors: 赵德政
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-12-15
Filing date: 2012-12-15
Publication date: 2013-05-29
Anticipated expiration: 2022-12-15

Abstract

The utility model relates to the technical field of micro-electro-mechanical system and the field of machinery, and particularly relates to moving robot devices and power devices adopting bionic telescopic tissue chains. The bionic telescopic tissue chain is composed of an iron core, a coil and a flexible connection shell, wherein the coil is fixedly connected to the iron core in the flexible connection shell, the flexible connection shell is fixedly connected to the coil, the front end of the iron core made from an easily-magnetized material is aligned to the rear part of another iron core, and the telescoping length of the elastically-telescoping shell can be decided according to the thickness and the distance of basic modules; and an electromagnetic coil wound on the peripheral wall of the iron core is covered by the flexible connection shell; and the two ends of the electromagnetic coil are in correspondingly matching connection with the positive pole and the negative pole of a power supply. For the bionic telescopic tissue chain disclosed by the utility model, via the function of imitating the telescoping of the muscular tissue of an animal to move, mechanical the movements of limbs of humanoid robots are more flexible and free; and the change applications of the overall dimensions can be used for the mechanical movements of large traction and reciprocating movements.

Description

Bionic telescopic is organized chain

Technical field

This Utility modelRelate to and be applied to reciprocating motion machine people's device and the power set that field of micro electromechanical technology and mechanical field, particularly bionic telescopic are organized chain.

Background technology

The reciprocating motion of existing many dynamic power machines mainly relies on motor, engine to drive and rotates and becomes reciprocating motion, special industrial robot in many factories all relies on motor to drive, and this makes the joint motion mode of the mechanical arm of robot be restricted.In addition, the relevant research of existing robot just manages how to change the walking balance of humanoid robot or other class quadrupeds machinery, the association areas such as control, its bionical degree is lower, the manners such as walking such as humanoid robot or other class quadrupeds machinery are stiff, also make its flexibility be restricted.

Summary of the invention

This Utility modelPurpose be to provide bionic telescopic to organize chain, it can play and imitate the function that animal muscle tissue is flexible and move, fully be applied in other quadrupeds mechanical technique of humanoid robot or class, the activity that makes other quadrupeds machinery of humanoid robot or class more flexibly and freely.

This Utility modelPurpose be achieved in that bionic telescopic organizes chain, by iron core, coil with flexibly connect housing and form bionic telescopic and organize chain, independent basic module be do not have effective.In flexibly connecting shell, affixed or be glued to and flexibly connect on housing by coil, iron core is affixed or glued joint in coil, the thickness of the contracted length of elastic telescopic housing and coil and iron core self and it and another group coil and iron core apart from decision; The solenoid be wrapped on the iron core periphery wall is covered by the flexible housing of flexibility, and the two ends of solenoid are connected with the positive and negative level of power supply corresponding matching.Form the N utmost point and the S utmost point of coil, there is a natural attraction between the sexes forms and shrink and repulsive force for two like magnetic poles repel each other.

The utility model principle is: in each bionic telescopic is organized chain, another group iron-core coil of the magnetic attraction produced by the solenoid be entangled on the iron core outer wall, its imitative bionic telescopic organizes the structure of chain to be similar to the Telescopic of muscle cell, imitate the flexible principle of meat fiber, make each bionic telescopic organize scm cluster to cooperate and the composition bionic telescopic musculature of back and forth stretching simultaneously, can be applicable in the middle of humanoid robot or other class quadrupeds field of mechanical technique.The utility model can play and imitate that animal muscle tissue is flexible and the function of motion fully is applied in other quadrupeds mechanical technique of humanoid robot or class, and the activity that makes other quadrupeds machinery of humanoid robot or class more flexibly and freely.

The accompanying drawing explanation

Fig. 1 is the basic module that the utility model bionic telescopic is organized chain.

Fig. 2 is that the utility model bionic telescopic is organized the sectional structure schematic diagram of chain in extended configuration;

Fig. 3 is that the utility model bionic telescopic is organized the sectional structure schematic diagram of chain in contraction state;

Fig. 4 is the structural representation of the bionic telescopic musculature that forms of the bionic telescopic chain that connected and composed by telescopic matrix unit of the utility model and bionic telescopic chain.

The specific embodiment

Bionic telescopic is organized chain, as shown in Figures 1 to 4, iron core 1, coil 2, flexibly connect housing 3 and form the flexible chain of organizing, coil 2 is wound around and is fixed on iron core 1, coil 2 splicing are fixed in and flexibly connect on housing 3, being flexibly connected housing 3 covers, and the two ends of coil 2 are connected with the positive and negative level of power supply corresponding matching.

Each above-mentioned matrix basic module initial and end connects in a row, and adjacent base modules front end connect and compose bionic telescopic corresponding to the rear end of another base modules organized chain; Producing magnetic field when coil 2 energising attracts each other the basic module of bionic telescopic chain, wherein, bionic telescopic is organized the power supply input two ends of this bionic telescopic tissue parallel with one another or in series between its coil 2 of each telescopic matrix module in chain, match with power supply in these power supply input two ends, the sense of current in the same way the time module attract each other, bionic telescopic organizes chain to shrink.When the sense of current is reverse, mutually repel, bionic telescopic is organized chain-unfolding.In adjacent two bionic telescopics are organized chain, the base modules of one bionic telescopic chain is staggered with respect to the telescopic matrix module of another bionic telescopic chain, and artificial bionic soft material that can be good by pliability is connected, make it more compact structure, mutually not discrete.

Iron core 1 consists of the metal material of easy magnetization, and front and back are shaped as identical spigot-and-socket external surface shape, and can smooth close contact.The good wire coiling that coil 2 is low by resistance forms.Flexibly connecting housing 3 forms, also can use the mode socket joint of metal sleeve socket joint to connect the imitation piston movement by other flexible materials such as flexible textile material or rubber.

As Fig. 1 is the basic module that bionic telescopic is organized chain, single basic module is without any effect.Fig. 2 is that bionic telescopic organizes chain in extended configuration, Fig. 3 switch on rear bionic telescopic organize chain in contraction state, Fig. 4 is the bionic telescopic tissue of a plurality of imitative bionic telescopics similar musculature of organizing chain to be connected to form.

In sum, the utility model is in conjunction with bionics techniques, machinery, electromagnetism, Electronic Control, the current situation in the related fields fields such as lubrication system, simple in structure, easily manufacture, and easily standardization, utilize modern high-new micro electronmechanical and micro-processing technology, finally can make the following size of micron order, as the manufacturing integration large scale integrated circuit, if any thousands of imitative bionic telescopic, organize chain to couple together, will form total length and surpass 25% mechanical movement stroke, by these mechanical type bionic telescopic tissue apposition on the hinged metal bone or metallic framework as humanoid robot or other class quadrupeds machinery, just can make above-mentioned humanoid robot or other class quadrupeds machinery more nimbly and freely.

When the multiply bionic telescopic organizes chain to be attached on hinged mechanical arm, bionic telescopic organizes chain solenoid two ends to connect with power supply, and the size of electric current can produce magnetic field, and magnetic field makes the basic module movement that attracts each other, make resilient flexibility housing 3 produce distortion, form displacement stroke.As Fig. 3 is the state after shrinking, bionic telescopic organizes chain to complete release current after an action, bionic telescopic organizes chain to restore, if any other external force, can not restore, just need another strand to stretch as the bionic telescopic tissue that musculature plays stretching or contraction, because mechanical arm is born the effect of lever therein.The state for stretching and shrinking as Fig. 2 and Fig. 3.

The utility model is realized various motions by the control of electric current, even if there are indivedual telescopic matrix units to break down, also can not affect molar behavior and motion.By the signal of telecommunication, to the similar response to nerve stimulation of the control of electric current, as Fig. 4 is that numerous imitative bionic telescopics are organized the interconnective schematic diagram of chain, power supply must adopt and is connected in parallel or partly is connected in series.Per share bionic telescopic tissue need only change its length just can control the strength that it applies exactly, connection each other adopt flexibly connect soft and can change direction; Simultaneously, the bionic telescopic organization table reveals the attribute of proportions constant: for the bionic telescopic tissue of various sizes size, its mechanism is all the same, identical bionic telescopic tissue, if its imitative bionic telescopic organizes the quantity of chain significantly to increase, will give mechanical arm very large flexible strength.Therefore, for being difficult to, make the machinery with electrical motor driven, the utility model can be used as a kind of micro electronmechanical widespread adoption of organizing of innovation in various production technical field.Can realize large travel displacement in the application that very thin thickness and diameter are very large in module, and High power Traction.

Claims

1. bionic telescopic is organized chain, it is characterized in that: iron core (1) and coil (2) form the telescopic matrix module, connect and compose bionic telescopic and organize chain by flexibly connecting housing (3), in flexibly connecting housing, coil (2) is fixed on iron core (1), flexibly connecting housing (3) is fixed on coil, the anterior rear portion of aiming at another iron core of the iron core formed by the easy magnetization material (1), be wrapped in solenoid on the iron core periphery wall and flexibly connected housing and cover, the positive and negative level of the two ends of solenoid (3) and power supply corresponding matching is connected.

2. bionic telescopic according to claim 1 is organized chain, it is characterized in that: the affixed formation bionic telescopic of adjacent expansion base modules chain; Match and form the bionic telescopic tissue by the bionic telescopic chain, wherein, bionical power supply input two ends of stretching this bionic telescopic tissue parallel with one another or in series between the coil (2) of making each the telescopic matrix module in tissue, the both positive and negative polarity variation of power supply can produce and attract and repulsive force.

3. bionic telescopic according to claim 1 is organized chain, it is characterized in that: in flexibly connecting housing, the iron core front end consisted of the easy magnetization material is aimed at the rear portion of another iron core, the front and rear part of iron core socket joint mutually connects, adopt cylinder, circular cone, sphere, but two iron core contact-making surface close contacts.

4. bionic telescopic according to claim 1 is organized chain, it is characterized in that: in the middle of adjacent two bionic telescopic chains, the telescopic matrix module of a bionic telescopic chain is staggered with respect to the telescopic matrix module of another bionic telescopic chain.

5. bionic telescopic according to claim 1 is organized chain, it is characterized in that: metal catheter (1) consists of the easy magnetization material.

6. bionic telescopic according to claim 1 is organized chain, it is characterized in that: flexibly connect housing (3) and consist of the flexible material that is difficult for stretching, also can use the mode socket joint of metal sleeve socket joint to connect the imitation piston movement.

7. bionic telescopic according to claim 1 is organized chain, it is characterized in that: the tensile elongation of each elastic telescopic housing can determine according to thickness and the spacing of basic module.

8. bionic telescopic according to claim 1 is organized chain, it is characterized in that: the core of solenoid (2) consists of low-resistance wire.